Improving the Energy Efficiency of Movement and Cross-Country Capacity of an Articulated Mobile Wheeled Robot by Controlling an Individual Electric Traction Drive

Articulated wheel-walking robots having a good combination of weight and load capacity, as well as high cross-country capacity and maneuverability are among the promising schemes of mobile robotic systems. One of the main requirements for such complexes is a high level of autonomy. In this regard, the task of improving the energy efficiency of the articulated mobile wheeled robot movement (especially in long-term transport mode) by reducing the driving wheel skid becomes urgent. An algorithm for the operation of the antiskid system of such a robot with an individual traction electric drive has been developed. It provides an increase in the energy efficiency of robot movement and cross-country capacity by reducing the skid of the driving wheels. The efficiency of the antiskid system operation algorithm has been proved by the simulation methods.

References

[1] Zhileykin M.M., Zhileykin Yu.M. Sochlenennoye transportnoye sredstvo s kolesno-shagayushchim dvizhitelem [Articulated vehicle with a wheel-walking engine]. Patent no. 2684956 RF, 2019.

[2] Batanov A.F., Gritsynin S.N., Murkin S.V. Robotic systems for use in emergency situations. Spetsial’naya tekhnika, 2000, no. 2, p. 16 (in Russ.).

[3] Klubnichkin V.E., Klubnichkin E.E., Kotiev G.O., Beketov S.A., Makarov V.S. Interaction between elements of the track ground contacting area with the soil at curvilinear motion of the timber harvesting machine. IOP Conference Series: Materials Science and Engineering, 2018, vol. 386(1), article no. 012016, doi: 10.1088/1757-899X/386/1/012016

[4] Beresnev P.O., Mikheyev A.V., Belyayev A.M., Papunin A.V., Kostrova Z.A., Kolotilin V.E., Eremin A.A., Makarov V.S., Zezyulin D.V., Belyakov V.V., Kurkin A.A. Statistical model for selecting geometric parameters, mass-inertia, power and speed characteristics of multi-axis wheeled transport and technological machines. Trudy NGTU im. R.E. Alekseyeva, 2014, no. 4(111), pp. 136–150 (in Russ.).

[5] Raibert M.H. Legged Robots that Balance. Cambridge, Massachusetts, London, England, MIT Press, 1989. 314 p.

[6] Kudryashov V.B., Lapshov V.S., Noskov V.P., Rubtsov I.V. Problems of robotization for military ground technics. Izvestiya YuFU. Tekhnicheskiye nauki, 2013, no. 3(152), pp. 42–57 (in Russ.).

[7] Noskov V.P., Rubtsov I.V. Experience in solving the problem of Autonomous motion control for mobile robots. Mekhatronika, avtomatizatsiya, upravleniye, 2005, no. 12, pp. 21–24 (in Russ.).

[8] D’yakov A.S., Kotiyev G.O. Basic of the method of designing chassis systems of unmanned ground vehicles. Trudy NAMI, 2016, no. 4(267), pp. 45–53 (in Russ.).

[9] Lapshin V.V. Mekhanika i upravleniye dvizheniyem shagayushchikh mashin [Mechanics and motion control of walking machines]. Moscow, Bauman Press, 2012. 199 p.

[10] Wong J.Y. Theory of Ground Vehicles. New York, Wiley IEEE, 2001. 560 p.

[11] Benes L., Hermanek P., Novak P. Tensile resistance of wheeled combine harvester. Engineering for Rural Development. MM Science Journal, 2018, vol. 2018, pp. 2481–2483, doi: 10.17973/mmsj.2018_10_201848

[12] Gorelov V.A., Kotiyev G.O., Miroshnichenko A.V. Control algorithm individual drive a vehicle wheel. Herald of the Bauman Moscow State Technical University. Series Mechanical Engineering, 2011, no. S5, pp. 39–58 (in Russ.).

[13] Zhileykin M.M. Teoreticheskiye osnovy povysheniya pokazateley ustoychivosti i upravlyayemosti kolesnykh mashin na baze metodov nechetkoy logiki [Theoretical foundations for improving the stability and controllability of wheeled vehicles based on fuzzy logic methods]. Moscow, Bauman Press, 2016. 238 p.

[14] Zhileykin M.M., Padalkin B.V. A Mathematical Model of Rolling an Elastic Wheel on a Rough Rigid Support Base. Proceedings of Higher Educational Institutions. Маchine Building, 2016, no. 3, pp. 24–29 (in Russ), doi: 10.18698/0536-1044-2016-3-24-29

[15] Kupreyanov A.A., Morozov M.V., Belousov B.N., Ksenevich T.I., Vantsevich V.V. Experimental research of tire elastomer-surface tribological properties. Proceedings of the ASME Design Engineering Technical Conference, 2014, paper no. DETC2014-34126, V003T01A040, doi: 10.1115/DETC2014-34126